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share more data structures and code between OpenCL kernels and C/C++ code on CPU (non-OpenCL)

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integrateSingleTransform
fix bug in registerRigidBody (could lead to random crashes, especially when performing picking/adding rigid bodies afterwards)
This commit is contained in:
erwin coumans
2013-11-07 15:49:57 -08:00
parent e20cb22832
commit e85bae5fe3
19 changed files with 270 additions and 111 deletions
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3
src/Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h
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@@ -14,6 +14,9 @@ static const char* primitiveContactsKernelsCL= \
"#else\n"
"#define b3AtomicInc atomic_inc\n"
"#define b3Fabs fabs\n"
"#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n"
"#define b3Cos native_cos\n"
"#endif\n"
"#endif\n"
"#ifdef __cplusplus\n"

3
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satClipHullContacts.h
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@@ -46,6 +46,9 @@ static const char* satClipKernelsCL= \
"#else\n"
"#define b3AtomicInc atomic_inc\n"
"#define b3Fabs fabs\n"
"#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n"
"#define b3Cos native_cos\n"
"#endif\n"
"#endif\n"
"#ifdef __cplusplus\n"

9
src/Bullet3OpenCL/NarrowphaseCollision/kernels/satKernels.h
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@@ -155,6 +155,9 @@ static const char* satKernelsCL= \
"#else\n"
"#define b3AtomicInc atomic_inc\n"
"#define b3Fabs fabs\n"
"#define b3Sqrt native_sqrt\n"
"#define b3Sin native_sin\n"
"#define b3Cos native_cos\n"
"#endif\n"
"#endif\n"
"#ifdef __cplusplus\n"
@@ -210,7 +213,7 @@ static const char* satKernelsCL= \
"}\n"
" \n"
"inline b3Quat b3QuatMul(b3Quat a, b3Quat b);\n"
"inline b3Quat b3QuatNormalize(b3QuatConstArg in);\n"
"inline b3Quat b3QuatNormalized(b3QuatConstArg in);\n"
"inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);\n"
"inline b3Quat b3QuatInvert(b3QuatConstArg q);\n"
"inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)\n"
@@ -222,8 +225,10 @@ static const char* satKernelsCL= \
" ans.w = a.w*b.w - b3Dot3F4(a, b);\n"
" return ans;\n"
"}\n"
"inline b3Quat b3QuatNormalize(b3QuatConstArg in)\n"
"inline b3Quat b3QuatNormalized(b3QuatConstArg in)\n"
"{\n"
" b3Quat q;\n"
" q=in;\n"
" //return b3FastNormalize4(in);\n"
" float len = native_sqrt(dot(q, q));\n"
" if(len > 0.f)\n"